Bidirectional clutch wheel-leg switching structure and leg structure of quadruped robot

The invention belongs to the technical field of robots, and discloses a bidirectional clutch wheel-leg switching structure and a leg structure of a quadruped robot, the bidirectional clutch wheel-leg switching structure is located on a thigh joint driving unit and comprises a machine shell, a bidire...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	WANG JIN, LU GUODONG, LU ZHELUN, CHENG XIANPING, ZHAO CHEN, ZHANG HAIYUN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES AUXILIARY DRIVES FOR VEHICLES INSTRUMENTATION OR DASHBOARDS FOR VEHICLES LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MOTOR VEHICLES PERFORMING OPERATIONS TRAILERS TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	The invention belongs to the technical field of robots, and discloses a bidirectional clutch wheel-leg switching structure and a leg structure of a quadruped robot, the bidirectional clutch wheel-leg switching structure is located on a thigh joint driving unit and comprises a machine shell, a bidirectional electromagnetic clutch mechanism, a hollow motor and a speed reducer, the hollow motor is arranged in the machine shell, and the speed reducer is arranged in the hollow motor. One part of the bidirectional electromagnetic clutch mechanism is arranged in the shell, the other part of the bidirectional electromagnetic clutch mechanism is arranged outside the machine shell, the output end, outside the machine shell, of the bidirectional electromagnetic clutch mechanism is connected with a hub input shaft of the hub, and the output end, in the shell, of the bidirectional electromagnetic clutch mechanism is connected with the input end of the speed reducer. An output shaft of the speed reducer is connected with a